Session: CIE-05-01CIE Graduate Student Poster Symposium

Paper Number: 74841

Start Time: August 18, 10:00 AM

74841 - A Digital Twin Based Robotic Grasp Planning for Deformable Objects 

The composite sheet layup process involves stacking several layers of a viscoelastic prepreg sheet and
curing the laminate to manufacture the component. Demands for automating functional tasks in composite manufacturing processes have dramatically increased in the past decade. A simulation system representing a digital twin of the composite sheet can aid in the development of such an autonomous system for prepreg sheet layup. While Finite Element Analysis (FEA) is a popular approach for simulating flexible materials, material properties need to be encoded to produce high fidelity mechanical simulations. The proposed methodology can predict the material parameters of a thin-shell FEA model based on real-world observations of the deformations of the object. We utilize the model to develop a digital twin of a composite sheet. Such a simulation system can be deployed to generate feasible grasp plans for robots to manipulate deformable sheets. Currently, many composite parts are produced by manually laying up sheets on complex molds. Composite sheet layup requires executing two main tasks: (1) grasping a sheet and (2) draping it on the mold. Automating the layup process requires automation of these two tasks. A simulation-based approach can be used for determining robot grasp locations on the composite sheets and automate the grasping task. This will help in the development of hybrid and fully autonomous robotic cells that can aid in the composite layup.

Presenting Author: Omey Manyar University of Southern California

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